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Fixes to latera error calculation

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amirx96
2019-02-02 13:47:14 -06:00
parent 2dfa2aeb05
commit 2ba3a43686
1 changed files with 7 additions and 8 deletions
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15
PathTracking/stanley_controller/stanley_controller.py
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@@ -123,7 +123,7 @@ def calc_target_index(state, cx, cy):
:param cy: [float]
:return: (int, float)
"""
# Calc front axle position
# Calc front axle position
fx = state.x + L * np.cos(state.yaw)
fy = state.y + L * np.sin(state.yaw)
@@ -131,13 +131,12 @@ def calc_target_index(state, cx, cy):
dx = [fx - icx for icx in cx]
dy = [fy - icy for icy in cy]
d = [np.sqrt(idx ** 2 + idy ** 2) for (idx, idy) in zip(dx, dy)]
error_front_axle = min(d)
target_idx = d.index(error_front_axle)
target_yaw = normalize_angle(np.arctan2(
fy - cy[target_idx], fx - cx[target_idx]) - state.yaw)
if target_yaw > 0.0:
error_front_axle = - error_front_axle
front_axle_vec = [-np.cos(state.yaw + np.pi/2), -np.sin(state.yaw + np.pi/2)]
closest_error = min(d)
target_idx = d.index(closest_error)
#Project RMS error onto front axle vector
error_front_axle = np.dot( [ dx[target_idx], dy[target_idx] ], front_axle_vec)
return target_idx, error_front_axle